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<div class="title">normal_space.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * are met: </span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *    notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *  * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *    copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *    disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *    with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *  * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *    contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *    from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_NORMAL_SUBSAMPLE_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_FILTERS_NORMAL_SUBSAMPLE_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/boost.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/filter_indices.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;time.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;limits.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> NormalT&gt;</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html">   52</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_normal_space_sampling.html">NormalSpaceSampling</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::filter_name_</a>;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::keep_organized_</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::extract_removed_indices_</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::removed_indices_</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter_indices.html">FilterIndices&lt;PointT&gt;::user_filter_value_</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">FilterIndices&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::PointCloud&lt;NormalT&gt;::ConstPtr NormalsConstPtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;NormalSpaceSampling&lt;PointT, NormalT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const NormalSpaceSampling&lt;PointT, NormalT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#a3f18741c93cc45fb7016f3b4fa7cd8c4">   74</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_space_sampling.html#a3f18741c93cc45fb7016f3b4fa7cd8c4">NormalSpaceSampling</a> ()</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        : <a class="code" href="classpcl_1_1_normal_space_sampling.html#ac1c03ecd7115ea8a05719236dc86c695">sample_</a> (std::numeric_limits&lt;unsigned int&gt;::max ())</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        , <a class="code" href="classpcl_1_1_normal_space_sampling.html#a51cf268bdfc4c96d86bdac3fda07b8e7">seed_</a> (static_cast&lt;unsigned int&gt; (time (NULL)))</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        , <a class="code" href="classpcl_1_1_normal_space_sampling.html#ae1ba1494550d033d95b83c42882b437b">binsx_</a> ()</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        , <a class="code" href="classpcl_1_1_normal_space_sampling.html#a2f194b54725ddc4958c59803a3b7598b">binsy_</a> ()</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        , <a class="code" href="classpcl_1_1_normal_space_sampling.html#a7366937ca53f6e835a489d670041e0b2">binsz_</a> ()</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        , <a class="code" href="classpcl_1_1_normal_space_sampling.html#a3cf7e44bb39cac14129ca8666ccd51f7">input_normals_</a> ()</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        , <a class="code" href="classpcl_1_1_normal_space_sampling.html#a82867f8a247fff23b40b3d5b30b94f70">rng_uniform_distribution_</a> (NULL)</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      {</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <a class="code" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a> = <span class="stringliteral">&quot;NormalSpaceSampling&quot;</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#a3f26b61de5f528227982d05baf594bb1">   87</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_space_sampling.html#a3f26b61de5f528227982d05baf594bb1">~NormalSpaceSampling</a> ()</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keywordflow">if</span> (<a class="code" href="classpcl_1_1_normal_space_sampling.html#a82867f8a247fff23b40b3d5b30b94f70">rng_uniform_distribution_</a> != NULL)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;          <span class="keyword">delete</span> <a class="code" href="classpcl_1_1_normal_space_sampling.html#a82867f8a247fff23b40b3d5b30b94f70">rng_uniform_distribution_</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#abe17caf2368a015790146247d7f9fa2d">   97</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_space_sampling.html#abe17caf2368a015790146247d7f9fa2d">setSample</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> sample)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      { <a class="code" href="classpcl_1_1_normal_space_sampling.html#ac1c03ecd7115ea8a05719236dc86c695">sample_</a> = sample; }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#a61ce4478ede48b9e212e0e46dec0f17f">  102</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_space_sampling.html#a61ce4478ede48b9e212e0e46dec0f17f">getSample</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;<span class="keyword">      </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_normal_space_sampling.html#ac1c03ecd7115ea8a05719236dc86c695">sample_</a>); }</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#a3a8bb0ef5c9482a89a5cc0263f12a1b4">  109</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_space_sampling.html#a3a8bb0ef5c9482a89a5cc0263f12a1b4">setSeed</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> seed)</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      { <a class="code" href="classpcl_1_1_normal_space_sampling.html#a51cf268bdfc4c96d86bdac3fda07b8e7">seed_</a> = seed; }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#a061c717a3d48618aa7bd1ae873b73a0b">  114</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_space_sampling.html#a061c717a3d48618aa7bd1ae873b73a0b">getSeed</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;<span class="keyword">      </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_normal_space_sampling.html#a51cf268bdfc4c96d86bdac3fda07b8e7">seed_</a>); }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#a3d025c11dfe801bc261fb6d75f8c87ec">  123</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_space_sampling.html#a3d025c11dfe801bc261fb6d75f8c87ec">setBins</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> binsx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> binsy, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> binsz)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <a class="code" href="classpcl_1_1_normal_space_sampling.html#ae1ba1494550d033d95b83c42882b437b">binsx_</a> = binsx;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <a class="code" href="classpcl_1_1_normal_space_sampling.html#a2f194b54725ddc4958c59803a3b7598b">binsy_</a> = binsy;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <a class="code" href="classpcl_1_1_normal_space_sampling.html#a7366937ca53f6e835a489d670041e0b2">binsz_</a> = binsz;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#ad18c33a81628e65ef43544bfd76b8820">  136</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_space_sampling.html#ad18c33a81628e65ef43544bfd76b8820">getBins</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>&amp; binsx, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>&amp; binsy, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>&amp; binsz)<span class="keyword"> const</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        binsx = <a class="code" href="classpcl_1_1_normal_space_sampling.html#ae1ba1494550d033d95b83c42882b437b">binsx_</a>;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        binsy = <a class="code" href="classpcl_1_1_normal_space_sampling.html#a2f194b54725ddc4958c59803a3b7598b">binsy_</a>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        binsz = <a class="code" href="classpcl_1_1_normal_space_sampling.html#a7366937ca53f6e835a489d670041e0b2">binsz_</a>;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00147"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#a752c289d771443346c2db6810516b300">  147</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_space_sampling.html#a752c289d771443346c2db6810516b300">setNormals</a> (<span class="keyword">const</span> NormalsConstPtr &amp;normals) { <a class="code" href="classpcl_1_1_normal_space_sampling.html#a3cf7e44bb39cac14129ca8666ccd51f7">input_normals_</a> = normals; }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      <span class="keyword">inline</span> NormalsConstPtr</div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#a068f587d197dc75df40efe4b93755e46">  151</a></span>&#160;      <a class="code" href="classpcl_1_1_normal_space_sampling.html#a068f587d197dc75df40efe4b93755e46">getNormals</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_normal_space_sampling.html#a3cf7e44bb39cac14129ca8666ccd51f7">input_normals_</a>); }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#ac1c03ecd7115ea8a05719236dc86c695">  155</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_normal_space_sampling.html#ac1c03ecd7115ea8a05719236dc86c695">sample_</a>;</div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#a51cf268bdfc4c96d86bdac3fda07b8e7">  157</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_normal_space_sampling.html#a51cf268bdfc4c96d86bdac3fda07b8e7">seed_</a>;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#ae1ba1494550d033d95b83c42882b437b">  160</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_normal_space_sampling.html#ae1ba1494550d033d95b83c42882b437b">binsx_</a>;</div>
<div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#a2f194b54725ddc4958c59803a3b7598b">  162</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_normal_space_sampling.html#a2f194b54725ddc4958c59803a3b7598b">binsy_</a>;</div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#a7366937ca53f6e835a489d670041e0b2">  164</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_normal_space_sampling.html#a7366937ca53f6e835a489d670041e0b2">binsz_</a>;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;     </div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#a3cf7e44bb39cac14129ca8666ccd51f7">  167</a></span>&#160;      NormalsConstPtr <a class="code" href="classpcl_1_1_normal_space_sampling.html#a3cf7e44bb39cac14129ca8666ccd51f7">input_normals_</a>;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <a class="code" href="classpcl_1_1_normal_space_sampling.html#a08b782f4d7714190f553a9cf19c7bca5">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output);</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <a class="code" href="classpcl_1_1_normal_space_sampling.html#a08b782f4d7714190f553a9cf19c7bca5">applyFilter</a> (std::vector&lt;int&gt; &amp;indices);</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      initCompute ();</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <a class="code" href="classpcl_1_1_normal_space_sampling.html#aa731ae7b60df1fe9f0a27c0b85b9b901">findBin</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> *normal, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nbins);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <a class="code" href="classpcl_1_1_normal_space_sampling.html#a34d3ca316e7f59bc360c4addd0fa9639">isEntireBinSampled</a> (boost::dynamic_bitset&lt;&gt; &amp;array, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> start_index, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> length);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_normal_space_sampling.html#a82867f8a247fff23b40b3d5b30b94f70">  201</a></span>&#160;      boost::variate_generator&lt;boost::mt19937, boost::uniform_int&lt;uint32_t&gt; &gt; *<a class="code" href="classpcl_1_1_normal_space_sampling.html#a82867f8a247fff23b40b3d5b30b94f70">rng_uniform_distribution_</a>;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  };</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;}</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/normal_space.hpp&gt;</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_FILTERS_NORMAL_SPACE_SUBSAMPLE_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_ad700c7ab56dc82ad8811b87e9f793751"><div class="ttname"><a href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">pcl::Filter::filter_name_</a></div><div class="ttdeci">std::string filter_name_</div><div class="ttdoc">The filter name.</div><div class="ttdef"><b>Definition:</b> filter.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_indices_html"><div class="ttname"><a href="classpcl_1_1_filter_indices.html">pcl::FilterIndices</a></div><div class="ttdoc">FilterIndices represents the base class for filters that are about binary point removal....</div><div class="ttdef"><b>Definition:</b> filter_indices.h:76</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html">pcl::NormalSpaceSampling</a></div><div class="ttdoc">NormalSpaceSampling samples the input point cloud in the space of normal directions computed at every...</div><div class="ttdef"><b>Definition:</b> normal_space.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a061c717a3d48618aa7bd1ae873b73a0b"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a061c717a3d48618aa7bd1ae873b73a0b">pcl::NormalSpaceSampling::getSeed</a></div><div class="ttdeci">unsigned int getSeed() const</div><div class="ttdoc">Get the value of the internal seed parameter.</div><div class="ttdef"><b>Definition:</b> normal_space.h:114</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a068f587d197dc75df40efe4b93755e46"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a068f587d197dc75df40efe4b93755e46">pcl::NormalSpaceSampling::getNormals</a></div><div class="ttdeci">NormalsConstPtr getNormals() const</div><div class="ttdoc">Get the normals computed on the input point cloud</div><div class="ttdef"><b>Definition:</b> normal_space.h:151</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a08b782f4d7714190f553a9cf19c7bca5"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a08b782f4d7714190f553a9cf19c7bca5">pcl::NormalSpaceSampling::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Sample of point indices into a separate PointCloud</div><div class="ttdef"><b>Definition:</b> normal_space.hpp:73</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a2f194b54725ddc4958c59803a3b7598b"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a2f194b54725ddc4958c59803a3b7598b">pcl::NormalSpaceSampling::binsy_</a></div><div class="ttdeci">unsigned int binsy_</div><div class="ttdoc">Number of bins in y direction.</div><div class="ttdef"><b>Definition:</b> normal_space.h:162</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a34d3ca316e7f59bc360c4addd0fa9639"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a34d3ca316e7f59bc360c4addd0fa9639">pcl::NormalSpaceSampling::isEntireBinSampled</a></div><div class="ttdeci">bool isEntireBinSampled(boost::dynamic_bitset&lt;&gt; &amp;array, unsigned int start_index, unsigned int length)</div><div class="ttdoc">Checks of the entire bin is sampled, returns true or false</div><div class="ttdef"><b>Definition:</b> normal_space.hpp:99</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a3a8bb0ef5c9482a89a5cc0263f12a1b4"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a3a8bb0ef5c9482a89a5cc0263f12a1b4">pcl::NormalSpaceSampling::setSeed</a></div><div class="ttdeci">void setSeed(unsigned int seed)</div><div class="ttdoc">Set seed of random function.</div><div class="ttdef"><b>Definition:</b> normal_space.h:109</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a3cf7e44bb39cac14129ca8666ccd51f7"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a3cf7e44bb39cac14129ca8666ccd51f7">pcl::NormalSpaceSampling::input_normals_</a></div><div class="ttdeci">NormalsConstPtr input_normals_</div><div class="ttdoc">The normals computed at each point in the input cloud</div><div class="ttdef"><b>Definition:</b> normal_space.h:167</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a3d025c11dfe801bc261fb6d75f8c87ec"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a3d025c11dfe801bc261fb6d75f8c87ec">pcl::NormalSpaceSampling::setBins</a></div><div class="ttdeci">void setBins(unsigned int binsx, unsigned int binsy, unsigned int binsz)</div><div class="ttdoc">Set the number of bins in x, y and z direction</div><div class="ttdef"><b>Definition:</b> normal_space.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a3f18741c93cc45fb7016f3b4fa7cd8c4"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a3f18741c93cc45fb7016f3b4fa7cd8c4">pcl::NormalSpaceSampling::NormalSpaceSampling</a></div><div class="ttdeci">NormalSpaceSampling()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> normal_space.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a3f26b61de5f528227982d05baf594bb1"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a3f26b61de5f528227982d05baf594bb1">pcl::NormalSpaceSampling::~NormalSpaceSampling</a></div><div class="ttdeci">~NormalSpaceSampling()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> normal_space.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a51cf268bdfc4c96d86bdac3fda07b8e7"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a51cf268bdfc4c96d86bdac3fda07b8e7">pcl::NormalSpaceSampling::seed_</a></div><div class="ttdeci">unsigned int seed_</div><div class="ttdoc">Random number seed.</div><div class="ttdef"><b>Definition:</b> normal_space.h:157</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a61ce4478ede48b9e212e0e46dec0f17f"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a61ce4478ede48b9e212e0e46dec0f17f">pcl::NormalSpaceSampling::getSample</a></div><div class="ttdeci">unsigned int getSample() const</div><div class="ttdoc">Get the value of the internal sample parameter.</div><div class="ttdef"><b>Definition:</b> normal_space.h:102</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a7366937ca53f6e835a489d670041e0b2"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a7366937ca53f6e835a489d670041e0b2">pcl::NormalSpaceSampling::binsz_</a></div><div class="ttdeci">unsigned int binsz_</div><div class="ttdoc">Number of bins in z direction.</div><div class="ttdef"><b>Definition:</b> normal_space.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a752c289d771443346c2db6810516b300"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a752c289d771443346c2db6810516b300">pcl::NormalSpaceSampling::setNormals</a></div><div class="ttdeci">void setNormals(const NormalsConstPtr &amp;normals)</div><div class="ttdoc">Set the normals computed on the input point cloud</div><div class="ttdef"><b>Definition:</b> normal_space.h:147</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_a82867f8a247fff23b40b3d5b30b94f70"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#a82867f8a247fff23b40b3d5b30b94f70">pcl::NormalSpaceSampling::rng_uniform_distribution_</a></div><div class="ttdeci">boost::variate_generator&lt; boost::mt19937, boost::uniform_int&lt; uint32_t &gt; &gt; * rng_uniform_distribution_</div><div class="ttdoc">Uniform random distribution.</div><div class="ttdef"><b>Definition:</b> normal_space.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_aa731ae7b60df1fe9f0a27c0b85b9b901"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#aa731ae7b60df1fe9f0a27c0b85b9b901">pcl::NormalSpaceSampling::findBin</a></div><div class="ttdeci">unsigned int findBin(const float *normal, unsigned int nbins)</div><div class="ttdoc">Finds the bin number of the input normal, returns the bin number</div><div class="ttdef"><b>Definition:</b> normal_space.hpp:113</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_abe17caf2368a015790146247d7f9fa2d"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#abe17caf2368a015790146247d7f9fa2d">pcl::NormalSpaceSampling::setSample</a></div><div class="ttdeci">void setSample(unsigned int sample)</div><div class="ttdoc">Set number of indices to be sampled.</div><div class="ttdef"><b>Definition:</b> normal_space.h:97</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_ac1c03ecd7115ea8a05719236dc86c695"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#ac1c03ecd7115ea8a05719236dc86c695">pcl::NormalSpaceSampling::sample_</a></div><div class="ttdeci">unsigned int sample_</div><div class="ttdoc">Number of indices that will be returned.</div><div class="ttdef"><b>Definition:</b> normal_space.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_ad18c33a81628e65ef43544bfd76b8820"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#ad18c33a81628e65ef43544bfd76b8820">pcl::NormalSpaceSampling::getBins</a></div><div class="ttdeci">void getBins(unsigned int &amp;binsx, unsigned int &amp;binsy, unsigned int &amp;binsz) const</div><div class="ttdoc">Get the number of bins in x, y and z direction</div><div class="ttdef"><b>Definition:</b> normal_space.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_space_sampling_html_ae1ba1494550d033d95b83c42882b437b"><div class="ttname"><a href="classpcl_1_1_normal_space_sampling.html#ae1ba1494550d033d95b83c42882b437b">pcl::NormalSpaceSampling::binsx_</a></div><div class="ttdeci">unsigned int binsx_</div><div class="ttdoc">Number of bins in x direction.</div><div class="ttdef"><b>Definition:</b> normal_space.h:160</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
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